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mcu: Enhance itersolve stepper kinematics allocation
Allocate the stepper_kinematics directly in mcu.py - that way the kinematic classes don't have to interact with the chelper code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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7 changed files with 31 additions and 36 deletions
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@ -4,13 +4,17 @@
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import stepper, homing, chelper
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import stepper, homing
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class CartKinematics:
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def __init__(self, toolhead, config):
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self.printer = config.get_printer()
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# Setup axis rails
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self.rails = [stepper.LookupMultiRail(config.getsection('stepper_' + n))
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for n in ['x', 'y', 'z']]
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for rail, axis in zip(self.rails, 'xyz'):
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rail.setup_itersolve('cartesian_stepper_alloc', axis)
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# Setup boundary checks
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max_velocity, max_accel = toolhead.get_max_velocity()
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self.max_z_velocity = config.getfloat(
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'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
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@ -18,10 +22,6 @@ class CartKinematics:
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'max_z_accel', max_accel, above=0., maxval=max_accel)
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self.need_motor_enable = True
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self.limits = [(1.0, -1.0)] * 3
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# Setup iterative solver
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ffi_main, ffi_lib = chelper.get_ffi()
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for axis, rail in zip('xyz', self.rails):
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rail.setup_cartesian_itersolve(axis)
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# Setup stepper max halt velocity
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max_halt_velocity = toolhead.get_max_axis_halt()
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self.rails[0].set_max_jerk(max_halt_velocity, max_accel)
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@ -36,7 +36,7 @@ class CartKinematics:
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dc_axis = dc_config.getchoice('axis', {'x': 'x', 'y': 'y'})
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self.dual_carriage_axis = {'x': 0, 'y': 1}[dc_axis]
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dc_rail = stepper.LookupMultiRail(dc_config)
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dc_rail.setup_cartesian_itersolve(dc_axis)
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dc_rail.setup_itersolve('cartesian_stepper_alloc', dc_axis)
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dc_rail.set_max_jerk(max_halt_velocity, max_accel)
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self.dual_carriage_rails = [
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self.rails[self.dual_carriage_axis], dc_rail]
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